Contour tracking and bilateral synchronization cooperative control method and system for gantry platform

A contour tracking and collaborative control technology, applied in general control systems, control/regulation systems, digital control, etc.

Active Publication Date: 2021-03-09
宁波智能装备研究院有限公司
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

At present, there is no controller designed for the gantry p

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  • Contour tracking and bilateral synchronization cooperative control method and system for gantry platform
  • Contour tracking and bilateral synchronization cooperative control method and system for gantry platform
  • Contour tracking and bilateral synchronization cooperative control method and system for gantry platform

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Embodiment Construction

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0051] The purpose of the present invention is to provide a method and system for contour tracking and bilateral synchronous cooperative control of the gantry platform, which can solve the precise collaborative contour control problem of the gantry platform, and at the same time make the gantry platform under the digital controller, there is interference and interference in the environment In the case of uncertainty, it still maintains precise contour tracking ...

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Abstract

The invention relates to a contour tracking and bilateral synchronous cooperative control method and system for a gantry platform. The method comprises the following steps: acquiring sampling time ofa gantry platform system; at the set moment, obtaining the contour error between the X axis of the gantry platform system and the first Y axis of the gantry platform system and the contour error between the X axis of the gantry platform system and the second Y axis of the gantry platform system; determining a synchronization error between the first Y axis and the second Y axis at a set moment; determining a cooperation error according to the contour error and the synchronization error; obtaining tracking errors of the X axis, the first Y axis and the second Y axis; determining a comprehensiveerror according to the cooperative error and each tracking error; designing a discrete time mixed order sliding mode controller according to the comprehensive error; and setting parameters of the sliding mode controller and the comprehensive error until each error meets a system design index. According to the invention, precise cooperative contour control and precise contour tracking of the gantryplatform can be achieved.

Description

technical field [0001] The invention relates to the field of gantry platform control, in particular to a contour tracking and bilateral synchronous synchronous control method and system for a gantry platform. Background technique [0002] The gantry platform is a general-purpose two-dimensional motion platform. The motion head is driven by one X-direction motion mechanism and two Y-direction motion mechanisms to complete the translation in the entire plane. The motion mechanism can be a ball screw pair, a synchronous belt, or a linear motor. Such platforms are widely used in a variety of industrial equipment, such as pick and place machines, dispensers, and laser engravers. [0003] There are two problems to be solved in the precise contour tracking control of the gantry platform, one is the contour tracking problem between the X-axis and the Y-axis, and the other is the synchronous control problem between the two Y-axis motors. The traditional method only considers the co...

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Application Information

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IPC IPC(8): G05B19/19
CPCG05B19/19G05B2219/35408
Inventor 高会军匡治安于兴虎刘志太
Owner 宁波智能装备研究院有限公司
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